/*
 *
 *      Copyright (c) 2010 <iBotics -- www.sdibotics.org>
 *      All rights reserved.
 *
 *      Redistribution and use in source and binary forms, with or without
 *      modification, are permitted provided that the following conditions are
 *      met:
 *
 *      * Redistributions of source code must retain the above copyright
 *        notice, this list of conditions and the following disclaimer.
 *      * Redistributions in binary form must reproduce the above
 *        copyright notice, this list of conditions and the following disclaimer
 *        in the documentation and/or other materials provided with the
 *        distribution.
 *      * Neither the name of the Stingray, iBotics nor the names of its
 *        contributors may be used to endorse or promote products derived from
 *        this software without specific prior written permission.
 *
 *      THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *      "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *      LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 *      A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 *      OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *      SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *      LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 *      DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 *      THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 *      (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *      OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#include "node_example/node_example_core.h"

int main(int argc, char **argv)
{
  // Set up ROS.
  ros::init(argc, argv, "node_talker");
  //ros::NodeHandle nh;

  // Create a new NodeExample object.
  NodeExample *nodeName = new NodeExample();




  // Create a publisher and name the topic.
  ros::Publisher pub_message = nodeName->nh.advertise<node_example::NodeExampleData>("example", 10);

  // Tell ROS how fast to run this node.
  ros::Rate r(nodeName->rate_);

  // Main loop.
  while (nodeName->nh.ok())
  {
    // Publish the message.
    nodeName->publishMessage(&pub_message);

    ros::spinOnce();
    r.sleep();
  }

  return 0;
} 
